Motion tracking is oriented incorrectly; no depth
If the camera is not moving (you're not walking or otherwise displacing the camera to have some parallax) the only way to solve the shot is using tripod solve. Normal solve will only give you errors.

It's very hard however to accurately get depth on a tripod solve. 

From the wiki: 


  tripod can be used for footage where the camera does not move and only
  rotates. Such footage can't be tracked with a generic solver approach,
  and it's impossible to determine the actual feature points in space
  due to a lack of information. So this solver will solve only the
  relative camera rotation and then reproject the feature points into a
  sphere, with the same distance between feature and camera for all
  feature points.


Once the scene is solved you might not get the right orientation using the default tools (like floor, wall or origin) but you can set manually by selecting the camera in the 3D viewport and rotating it to make the plane and cube match the orientation of the real images (remember to set the original footage as background image). All the trackers are parented to the camera, so they will follow it as you move it along.

What you want to get is something like this:

sample file here